refactor(map_loader)!: prefix package and namespace with autoware

.github/CODEOWNERS

@@ -98,6 +98,7 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu
 localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

@@ -364,7 +364,7 @@ void TrafficLightPublishPanel::onTimer()
 void TrafficLightPublishPanel::onVectorMap(const LaneletMapBin::ConstSharedPtr msg)
 {
   if (received_vector_map_) return;
-  // NOTE: examples from map_loader/lanelet2_map_visualization_node.cpp
+  // NOTE: examples from autoware_lanelet2_map_visualizer/lanelet2_map_visualization_node.cpp
   lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
   lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map);
   lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map);

launch/tier4_map_launch/launch/map.launch.xml

@@ -23,7 +23,7 @@
     <push-ros-namespace namespace="map"/>
 
     <node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both">
-      <composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
+      <composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::PointCloudMapLoaderNode" name="pointcloud_map_loader">
         <param from="$(var pointcloud_map_loader_param_path)"/>
         <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
         <param name="pcd_metadata_path" value="$(var pointcloud_map_metadata_path)"/>
@@ -35,14 +35,14 @@
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
-      <composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
+      <composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::Lanelet2MapLoaderNode" name="lanelet2_map_loader">
         <param from="$(var lanelet2_map_loader_param_path)"/>
         <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
         <remap from="output/lanelet2_map" to="vector_map"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
-      <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
+      <composable_node pkg="autoware_lanelet2_map_visualizer" plugin="autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
         <remap from="input/lanelet2_map" to="vector_map"/>
         <remap from="output/lanelet2_map_marker" to="vector_map_marker"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
@@ -54,7 +54,7 @@
       </composable_node>
     </node_container>
 
-    <node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
+    <node pkg="autoware_map_loader" exec="map_hash_generator" name="map_hash_generator">
       <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
       <param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
     </node>

launch/tier4_map_launch/package.xml

@@ -18,9 +18,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_map_loader</exec_depend>
   <exec_depend>autoware_map_projection_loader</exec_depend>
   <exec_depend>autoware_map_tf_generator</exec_depend>
-  <exec_depend>map_loader</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

map/autoware_lanelet2_map_visualizer/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_lanelet2_map_visualizer)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(lanelet2_map_visualization_node SHARED
+  src/lanelet2_map_visualization_node.cpp
+)
+
+rclcpp_components_register_node(lanelet2_map_visualization_node
+  PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode"
+  EXECUTABLE lanelet2_map_visualization
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)

map/autoware_lanelet2_map_visualizer/README.md

@@ -0,0 +1,21 @@
+# autoware_lanelet2_map_visualizer package
+
+This package provides the features of visualizing the lanelet2 maps.
+
+## lanelet2_map_visualization
+
+### Feature
+
+lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
+
+### How to Run
+
+`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization`
+
+### Subscribed Topics
+
+- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
+
+### Published Topics
+
+- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml

@@ -0,0 +1,9 @@
+<launch>
+  <arg name="lanelet2_map_topic" default="vector_map"/>
+  <arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
+
+  <node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization" output="both">
+    <remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
+    <remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
+  </node>
+</launch>

map/autoware_lanelet2_map_visualizer/package.xml

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_lanelet2_map_visualizer</name>
+  <version>0.1.0</version>
+  <description>The autoware_lanelet2_map_visualizer package</description>
+  <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
+  <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
+  <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
+  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
+  <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
+  <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
+  <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
+  <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
+
+  <license>Apache License 2.0</license>
+  <author email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</author>
+  <author email="koji.minoda@tier4.jp">Koji Minoda</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tier4_map_msgs</depend>
+  <depend>visualization_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp → map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp

@@ -31,7 +31,7 @@
  *
  */
 
-#include "map_loader/lanelet2_map_visualization_node.hpp"
+#include "lanelet2_map_visualization_node.hpp"
 
 #include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
@@ -49,7 +49,7 @@
 #include <memory>
 #include <vector>
 
-namespace
+namespace autoware::lanelet2_map_visualizer
 {
 void insert_marker_array(
   visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2)
@@ -57,14 +57,13 @@
   a1->markers.insert(a1->markers.end(), a2.markers.begin(), a2.markers.end());
 }
 
 void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, double a)
 {
   cl->r = static_cast<float>(r);
   cl->g = static_cast<float>(g);
   cl->b = static_cast<float>(b);
   cl->a = static_cast<float>(a);
 }
-}  // namespace
 
 Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options)
 : Node("lanelet2_map_visualization", options)
@@ -81,239 +80,240 @@
     "output/lanelet2_map_marker", rclcpp::QoS{1}.transient_local());
 }
 
 void Lanelet2MapVisualizationNode::on_map_bin(
   const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg)
 {
   lanelet::LaneletMapPtr viz_lanelet_map(new lanelet::LaneletMap);
 
   lanelet::utils::conversion::fromBinMsg(*msg, viz_lanelet_map);
   RCLCPP_INFO(this->get_logger(), "Map is loaded\n");
 
   // get lanelets etc to visualize
   lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(viz_lanelet_map);
   lanelet::ConstLanelets road_lanelets = lanelet::utils::query::roadLanelets(all_lanelets);
   lanelet::ConstLanelets shoulder_lanelets = lanelet::utils::query::shoulderLanelets(all_lanelets);
   lanelet::ConstLanelets crosswalk_lanelets =
     lanelet::utils::query::crosswalkLanelets(all_lanelets);
   lanelet::ConstLanelets bicycle_lane_lanelets =
     lanelet::utils::query::bicycleLaneLanelets(all_lanelets);
   lanelet::ConstLineStrings3d partitions = lanelet::utils::query::getAllPartitions(viz_lanelet_map);
   lanelet::ConstLineStrings3d pedestrian_polygon_markings =
     lanelet::utils::query::getAllPedestrianPolygonMarkings(viz_lanelet_map);
   lanelet::ConstLineStrings3d pedestrian_line_markings =
     lanelet::utils::query::getAllPedestrianLineMarkings(viz_lanelet_map);
   lanelet::ConstLanelets walkway_lanelets = lanelet::utils::query::walkwayLanelets(all_lanelets);
   std::vector<lanelet::ConstLineString3d> stop_lines =
     lanelet::utils::query::stopLinesLanelets(road_lanelets);
   std::vector<lanelet::AutowareTrafficLightConstPtr> aw_tl_reg_elems =
     lanelet::utils::query::autowareTrafficLights(all_lanelets);
   std::vector<lanelet::DetectionAreaConstPtr> da_reg_elems =
     lanelet::utils::query::detectionAreas(all_lanelets);
   std::vector<lanelet::NoStoppingAreaConstPtr> no_reg_elems =
     lanelet::utils::query::noStoppingAreas(all_lanelets);
   std::vector<lanelet::SpeedBumpConstPtr> sb_reg_elems =
     lanelet::utils::query::speedBumps(all_lanelets);
   std::vector<lanelet::CrosswalkConstPtr> cw_reg_elems =
     lanelet::utils::query::crosswalks(all_lanelets);
   lanelet::ConstLineStrings3d parking_spaces =
     lanelet::utils::query::getAllParkingSpaces(viz_lanelet_map);
   lanelet::ConstPolygons3d parking_lots = lanelet::utils::query::getAllParkingLots(viz_lanelet_map);
   lanelet::ConstPolygons3d obstacle_polygons =
     lanelet::utils::query::getAllObstaclePolygons(viz_lanelet_map);
   lanelet::ConstPolygons3d no_obstacle_segmentation_area =
     lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "no_obstacle_segmentation_area");
   lanelet::ConstPolygons3d no_obstacle_segmentation_area_for_run_out =
     lanelet::utils::query::getAllPolygonsByType(
       viz_lanelet_map, "no_obstacle_segmentation_area_for_run_out");
   lanelet::ConstPolygons3d hatched_road_markings_area =
     lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "hatched_road_markings");
   lanelet::ConstPolygons3d intersection_areas =
     lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "intersection_area");
   std::vector<lanelet::NoParkingAreaConstPtr> no_parking_reg_elems =
     lanelet::utils::query::noParkingAreas(all_lanelets);
   lanelet::ConstLineStrings3d curbstones = lanelet::utils::query::curbstones(viz_lanelet_map);
   std::vector<lanelet::BusStopAreaConstPtr> bus_stop_reg_elems =
     lanelet::utils::query::busStopAreas(all_lanelets);
 
   std_msgs::msg::ColorRGBA cl_road;
   std_msgs::msg::ColorRGBA cl_shoulder;
   std_msgs::msg::ColorRGBA cl_cross;
   std_msgs::msg::ColorRGBA cl_partitions;
   std_msgs::msg::ColorRGBA cl_pedestrian_markings;
   std_msgs::msg::ColorRGBA cl_ll_borders;
   std_msgs::msg::ColorRGBA cl_shoulder_borders;
   std_msgs::msg::ColorRGBA cl_stoplines;
   std_msgs::msg::ColorRGBA cl_trafficlights;
   std_msgs::msg::ColorRGBA cl_detection_areas;
   std_msgs::msg::ColorRGBA cl_speed_bumps;
   std_msgs::msg::ColorRGBA cl_crosswalks;
   std_msgs::msg::ColorRGBA cl_parking_lots;
   std_msgs::msg::ColorRGBA cl_parking_spaces;
   std_msgs::msg::ColorRGBA cl_lanelet_id;
   std_msgs::msg::ColorRGBA cl_obstacle_polygons;
   std_msgs::msg::ColorRGBA cl_no_stopping_areas;
   std_msgs::msg::ColorRGBA cl_no_obstacle_segmentation_area;
   std_msgs::msg::ColorRGBA cl_no_obstacle_segmentation_area_for_run_out;
   std_msgs::msg::ColorRGBA cl_hatched_road_markings_area;
   std_msgs::msg::ColorRGBA cl_hatched_road_markings_line;
   std_msgs::msg::ColorRGBA cl_no_parking_areas;
   std_msgs::msg::ColorRGBA cl_curbstones;
   std_msgs::msg::ColorRGBA cl_intersection_area;
   std_msgs::msg::ColorRGBA cl_bus_stop_area;
   std_msgs::msg::ColorRGBA cl_bicycle_lane;
   set_color(&cl_road, 0.27, 0.27, 0.27, 0.999);
   set_color(&cl_shoulder, 0.15, 0.15, 0.15, 0.999);
   set_color(&cl_cross, 0.27, 0.3, 0.27, 0.5);
   set_color(&cl_partitions, 0.25, 0.25, 0.25, 0.999);
   set_color(&cl_pedestrian_markings, 0.5, 0.5, 0.5, 0.999);
   set_color(&cl_ll_borders, 0.5, 0.5, 0.5, 0.999);
   set_color(&cl_shoulder_borders, 0.2, 0.2, 0.2, 0.999);
   set_color(&cl_stoplines, 0.5, 0.5, 0.5, 0.999);
   set_color(&cl_trafficlights, 0.5, 0.5, 0.5, 0.8);
   set_color(&cl_detection_areas, 0.27, 0.27, 0.37, 0.5);
   set_color(&cl_no_stopping_areas, 0.37, 0.37, 0.37, 0.5);
   set_color(&cl_speed_bumps, 0.56, 0.40, 0.27, 0.5);
   set_color(&cl_crosswalks, 0.80, 0.80, 0.0, 0.5);
   set_color(&cl_obstacle_polygons, 0.4, 0.27, 0.27, 0.5);
   set_color(&cl_parking_lots, 1.0, 1.0, 1.0, 0.2);
   set_color(&cl_parking_spaces, 1.0, 1.0, 1.0, 0.3);
   set_color(&cl_lanelet_id, 0.5, 0.5, 0.5, 0.999);
   set_color(&cl_no_obstacle_segmentation_area, 0.37, 0.37, 0.27, 0.5);
   set_color(&cl_no_obstacle_segmentation_area_for_run_out, 0.37, 0.7, 0.27, 0.5);
   set_color(&cl_hatched_road_markings_area, 0.3, 0.3, 0.3, 0.5);
   set_color(&cl_hatched_road_markings_line, 0.5, 0.5, 0.5, 0.999);
   set_color(&cl_no_parking_areas, 0.42, 0.42, 0.42, 0.5);
   set_color(&cl_curbstones, 0.1, 0.1, 0.2, 0.999);
   set_color(&cl_intersection_area, 0.16, 1.0, 0.69, 0.5);
   set_color(&cl_bus_stop_area, 0.863, 0.863, 0.863, 0.5);
   set_color(&cl_bicycle_lane, 0.0, 0.3843, 0.6274, 0.5);
 
   visualization_msgs::msg::MarkerArray map_marker_array;
 
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::lineStringsAsMarkerArray(stop_lines, "stop_lines", cl_stoplines, 0.5));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::lineStringsAsMarkerArray(partitions, "partitions", cl_partitions, 0.1));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::laneletDirectionAsMarkerArray(shoulder_lanelets, "shoulder_"));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::laneletDirectionAsMarkerArray(road_lanelets));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray(
                          "crosswalk_lanelets", crosswalk_lanelets, cl_cross));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::pedestrianPolygonMarkingsAsMarkerArray(
                          pedestrian_polygon_markings, cl_pedestrian_markings));
 
   insert_marker_array(
     &map_marker_array, lanelet::visualization::pedestrianLineMarkingsAsMarkerArray(
                          pedestrian_line_markings, cl_pedestrian_markings));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray(
                          "walkway_lanelets", walkway_lanelets, cl_cross));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::obstaclePolygonsAsMarkerArray(obstacle_polygons, cl_obstacle_polygons));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::detectionAreasAsMarkerArray(da_reg_elems, cl_detection_areas));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::noStoppingAreasAsMarkerArray(no_reg_elems, cl_no_stopping_areas));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::speedBumpsAsMarkerArray(sb_reg_elems, cl_speed_bumps));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::crosswalkAreasAsMarkerArray(cw_reg_elems, cl_crosswalks));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::parkingLotsAsMarkerArray(parking_lots, cl_parking_lots));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::parkingSpacesAsMarkerArray(parking_spaces, cl_parking_spaces));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::laneletsBoundaryAsMarkerArray(
       shoulder_lanelets, cl_shoulder_borders, viz_lanelets_centerline_, "shoulder_"));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::laneletsBoundaryAsMarkerArray(
                          road_lanelets, cl_ll_borders, viz_lanelets_centerline_));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::autowareTrafficLightsAsMarkerArray(aw_tl_reg_elems, cl_trafficlights));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::generateTrafficLightRegulatoryElementIdMaker(
                          road_lanelets, cl_trafficlights));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::generateTrafficLightRegulatoryElementIdMaker(
                          crosswalk_lanelets, cl_trafficlights));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::generateTrafficLightIdMaker(aw_tl_reg_elems, cl_trafficlights));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::generateLaneletIdMarker(shoulder_lanelets, cl_lanelet_id));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::generateLaneletIdMarker(road_lanelets, cl_lanelet_id));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::generateLaneletIdMarker(
                          crosswalk_lanelets, cl_lanelet_id, "crosswalk_lanelet_id"));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray(
                          "shoulder_road_lanelets", shoulder_lanelets, cl_shoulder));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::laneletsAsTriangleMarkerArray("road_lanelets", road_lanelets, cl_road));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::noObstacleSegmentationAreaAsMarkerArray(
                          no_obstacle_segmentation_area, cl_no_obstacle_segmentation_area));
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::noObstacleSegmentationAreaForRunOutAsMarkerArray(
       no_obstacle_segmentation_area_for_run_out, cl_no_obstacle_segmentation_area_for_run_out));
 
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::hatchedRoadMarkingsAreaAsMarkerArray(
       hatched_road_markings_area, cl_hatched_road_markings_area, cl_hatched_road_markings_line));
 
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::noParkingAreasAsMarkerArray(no_parking_reg_elems, cl_no_parking_areas));
 
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::lineStringsAsMarkerArray(curbstones, "curbstone", cl_curbstones, 0.2));
 
   insert_marker_array(
     &map_marker_array, lanelet::visualization::intersectionAreaAsMarkerArray(
                          intersection_areas, cl_intersection_area));
 
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::busStopAreasAsMarkerArray(bus_stop_reg_elems, cl_bus_stop_area));
 
   insert_marker_array(
     &map_marker_array,
     lanelet::visualization::laneletDirectionAsMarkerArray(bicycle_lane_lanelets, "bicycle_lane_"));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::laneletsBoundaryAsMarkerArray(
                          bicycle_lane_lanelets, cl_ll_borders /* use ll_border color */,
                          viz_lanelets_centerline_, "bicycle_lane_"));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::generateLaneletIdMarker(
                          bicycle_lane_lanelets, cl_lanelet_id /* use lanelet_id color */));
   insert_marker_array(
     &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray(
                          "bicycle_lane_lanelets", bicycle_lane_lanelets, cl_bicycle_lane));
 
   pub_marker_->publish(map_marker_array);
 }
+}  // namespace autoware::lanelet2_map_visualizer
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapVisualizationNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode)

map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp → map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
-#define MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#ifndef LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#define LANELET2_MAP_VISUALIZATION_NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -23,6 +23,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::lanelet2_map_visualizer
+{
 class Lanelet2MapVisualizationNode : public rclcpp::Node
 {
 public:
@@ -36,5 +38,6 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node
 
   void on_map_bin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
 };
+}  // namespace autoware::lanelet2_map_visualizer
 
-#endif  // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
+#endif  // LANELET2_MAP_VISUALIZATION_NODE_HPP_

map/map_loader/CMakeLists.txt → map/autoware_map_loader/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(map_loader)
+project(autoware_map_loader)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -23,26 +23,17 @@ target_include_directories(pointcloud_map_loader_node
 )
 
 rclcpp_components_register_node(pointcloud_map_loader_node
-  PLUGIN "PointCloudMapLoaderNode"
-  EXECUTABLE pointcloud_map_loader
+  PLUGIN "autoware::map_loader::PointCloudMapLoaderNode"
+  EXECUTABLE autoware_pointcloud_map_loader
 )
 
 ament_auto_add_library(lanelet2_map_loader_node SHARED
   src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
 )
 
 rclcpp_components_register_node(lanelet2_map_loader_node
-  PLUGIN "Lanelet2MapLoaderNode"
-  EXECUTABLE lanelet2_map_loader
-)
-
-ament_auto_add_library(lanelet2_map_visualization_node SHARED
-  src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
-)
-
-rclcpp_components_register_node(lanelet2_map_visualization_node
-  PLUGIN "Lanelet2MapVisualizationNode"
-  EXECUTABLE lanelet2_map_visualization
+  PLUGIN "autoware::map_loader::Lanelet2MapLoaderNode"
+  EXECUTABLE autoware_lanelet2_map_loader
 )
 
 if(BUILD_TESTING)

map/map_loader/README.md → map/autoware_map_loader/README.md

@@ -1,4 +1,4 @@
-# map_loader package
+# autoware_map_loader package
 
 This package provides the features of loading various maps.
 
@@ -111,7 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
 
 ### Parameters
 
-{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }}
+{{ json_to_markdown("map/autoware_map_loader/schema/pointcloud_map_loader.schema.json") }}
 
 ### Interfaces
 
@@ -136,7 +136,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### How to run
 
-`ros2 run map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm`
+`ros2 run autoware_map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm`
 
 ### Subscribed Topics
 
@@ -148,27 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### Parameters
 
-{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }}
+{{ json_to_markdown("map/autoware_map_loader/schema/lanelet2_map_loader.schema.json") }}
 
 `use_waypoints` decides how to handle a centerline.
 This flag enables to use the `overwriteLaneletsCenterlineWithWaypoints` function instead of `overwriteLaneletsCenterline`. Please see [the document of the autoware_lanelet2_extension package](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#centerline) in detail.
-
----
-
-## lanelet2_map_visualization
-
-### Feature
-
-lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
-
-### How to Run
-
-`ros2 run map_loader lanelet2_map_visualization`
-
-### Subscribed Topics
-
-- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
-
-### Published Topics
-
-- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp → map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
-#define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#ifndef AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#define AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
 
 #include <autoware_lanelet2_extension/version.hpp>
 #include <component_interface_specs/map.hpp>
@@ -28,6 +28,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::map_loader
+{
 class Lanelet2MapLoaderNode : public rclcpp::Node
 {
 public:
@@ -51,5 +53,6 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
   component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_info_;
   rclcpp::Publisher<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr pub_map_bin_;
 };
+}  // namespace autoware::map_loader
 
-#endif  // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#endif  // AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_

map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml

@@ -0,0 +1,15 @@
+<launch>
+  <arg name="lanelet2_map_loader_param_path" default="$(find-pkg-share autoware_map_loader)/config/lanelet2_map_loader.param.yaml"/>
+  <arg name="lanelet2_map_path"/>
+  <arg name="lanelet2_map_topic" default="vector_map"/>
+  <arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
+
+  <node pkg="autoware_map_loader" exec="map_hash_generator" name="map_hash_generator" output="both">
+    <param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
+  </node>
+
+  <node pkg="autoware_map_loader" exec="lanelet2_map_loader" name="lanelet2_map_loader" output="both">
+    <remap from="output/lanelet2_map" to="$(var lanelet2_map_topic)"/>
+    <param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
+  </node>
+</launch>

map/map_loader/launch/pointcloud_map_loader.launch.xml → map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml

@@ -1,9 +1,9 @@
 <launch>
   <arg name="pointcloud_map_path"/>
   <arg name="pointcloud_map_metadata_path"/>
-  <arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share map_loader)/config/pointcloud_map_loader.param.yaml"/>
+  <arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share autoware_map_loader)/config/pointcloud_map_loader.param.yaml"/>
 
-  <node pkg="map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" output="both">
+  <node pkg="autoware_map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" output="both">
     <remap from="output/pointcloud_map" to="/map/pointcloud_map"/>
     <remap from="service/get_partial_pcd_map" to="/map/get_partial_pointcloud_map"/>
     <remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>

map/map_loader/package.xml → map/autoware_map_loader/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>map_loader</name>
+  <name>autoware_map_loader</name>
   <version>0.1.0</version>
-  <description>The map_loader package</description>
+  <description>The autoware_map_loader package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>